CN111451206A - Cleaning equipment for bogie framework of bullet train - Google Patents
Cleaning equipment for bogie framework of bullet train Download PDFInfo
- Publication number
- CN111451206A CN111451206A CN202010420442.7A CN202010420442A CN111451206A CN 111451206 A CN111451206 A CN 111451206A CN 202010420442 A CN202010420442 A CN 202010420442A CN 111451206 A CN111451206 A CN 111451206A
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- CN
- China
- Prior art keywords
- unit
- cleaning
- bogie frame
- motor car
- motor
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 96
- 230000001680 brushing effect Effects 0.000 claims abstract description 34
- 238000005406 washing Methods 0.000 claims abstract description 34
- 238000001035 drying Methods 0.000 claims abstract description 30
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 30
- 238000005507 spraying Methods 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 239000007788 liquid Substances 0.000 claims abstract description 12
- 230000000007 visual effect Effects 0.000 claims abstract description 12
- 239000007921 spray Substances 0.000 claims description 10
- 230000001154 acute effect Effects 0.000 claims description 6
- 238000005201 scrubbing Methods 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 2
- 230000000694 effects Effects 0.000 abstract description 6
- 238000011086 high cleaning Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000002791 soaking Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/022—Cleaning travelling work
-
- B08B1/12—
-
- B08B1/20—
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/026—Cleaning by making use of hand-held spray guns; Fluid preparations therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B21/00—Arrangements or duct systems, e.g. in combination with pallet boxes, for supplying and controlling air or gases for drying solid materials or objects
- F26B21/004—Nozzle assemblies; Air knives; Air distributors; Blow boxes
Abstract
The invention relates to the field of maintenance of motor train units, and discloses a cleaning device for a bogie frame of a motor train unit. The cleaning equipment for the motor car bogie frame comprises a conveying unit, a pre-spraying unit, a brushing unit, a cleaning and drying unit and a visual detection unit, wherein the conveying unit is used for bearing the motor car bogie frame, the pre-spraying unit is used for spraying surface stains of the motor car bogie frame, the brushing unit is used for brushing the surface stains of the motor car bogie frame, the cleaning and drying unit is used for washing residual washing liquid on the surface of the motor car bogie frame and drying the motor car bogie frame, and the visual detection unit is used for identifying the residual stain position and cable components of the motor car bogie frame. The cleaning device has the advantages of high cleaning efficiency, good cleaning effect, safety, environmental protection, reduction of the cost of cleaning manpower, realization of all-directional covering and cleaning of the motor car bogie frame, realization of repeated cleaning and key cleaning of stubborn stains, and effective avoidance of damage and water inflow of key components such as cables.
Description
Technical Field
The invention relates to the field of motor train unit overhauling and maintenance, in particular to a cleaning device for a bogie frame of a motor train unit.
Background
In order to ensure the running safety of the motor train unit, the motor train unit needs to be comprehensively overhauled and maintained after running for a period of time, and one maintenance work is to clean the motor train unit bogie frame regularly.
The cleaning equipment who has and is used for motor car bogie framework need fill earlier and wash the case, utilizes the washing liquid to invade the bubble framework, and the rethread is one row or multirow flushing pipe and sprays and wash, when having the cable on the framework, can only lean on the manual work to carry out simple and easy sticky tape ligature, soaking and washing in-process, and washing liquid infiltrates the cable very easily, leads to the cable to become invalid or damage. Meanwhile, a washing pipeline in the existing cleaning machine is fixed or can only do simple transverse movement, stains can not be effectively removed from the specific concave-convex surface on the framework, manual washing needs to be carried out after the cleaning machine is cleaned, the cleaning efficiency is low, and the labor cost is increased.
Disclosure of Invention
Based on the problems, the invention aims to provide the cleaning equipment for the bogie frame of the bullet train, which has high cleaning efficiency and good cleaning effect.
In order to achieve the purpose, the invention adopts the following technical scheme:
A motor car truck frame washing apparatus comprising:
The conveying unit comprises a rotary table and a traveling rail, the rotary table is arranged on the traveling rail in a sliding mode and can rotate independently, and the rotary table is used for bearing the bogie frame of the bullet train;
The pre-spraying and washing unit comprises a first serial robot and a first high-pressure water gun, the first serial robot has multiple degrees of freedom, and the first high-pressure water gun is connected to the tail end of the first serial robot and used for spraying surface stains of the motor train bogie frame;
The brushing unit is used for brushing surface stains on the bogie frame of the bullet train;
The cleaning and drying unit is used for washing the washing liquid remained on the surface of the motor train bogie frame and drying the motor train bogie frame;
And the visual detection unit is used for identifying the residual stain position and the cable component of the motor car bogie frame.
As a preferable scheme of the cleaning equipment for the bullet train bogie frame, the brushing unit comprises a rough brushing unit, the rough brushing unit comprises a second serial robot, a second high-pressure water gun and a first cleaning component, and the second high-pressure water gun and the first cleaning component are arranged at the tail end of the second serial robot in an acute angle.
As a preferable scheme of the cleaning equipment for the bullet train bogie frame, the cleaning unit further comprises a fine cleaning unit, the fine cleaning unit comprises a third serial robot, a third high-pressure water gun and a second cleaning component, the third high-pressure water gun and the second cleaning component are arranged at the tail end of the third serial robot in an acute angle, and the third serial robot can position residual stains according to the recognition result of the visual detection unit and avoid the cable component.
As a preferable aspect of the railcar bogie frame cleaning device according to the present invention, each of the first cleaning assembly and the second cleaning assembly includes a plurality of brush heads and a turntable, the plurality of brush heads are circumferentially distributed on the turntable, and the turntable is capable of rotating so as to align one of the plurality of brush heads with the railcar bogie frame.
As a preferable aspect of the railcar truck frame washing apparatus of the present invention, a plurality of the brush heads are different in size.
As a preferable scheme of the bullet train bogie frame cleaning equipment, the cleaning and drying unit comprises a fourth serial robot, a fourth high-pressure water gun and a high-pressure air gun, the fourth high-pressure water gun and the high-pressure air gun are both arranged at the tail end of the fourth serial robot, the fourth high-pressure water gun is used for washing the residual cleaning solution on the surface of the bullet train bogie frame, and the high-pressure air gun is used for drying the bullet train bogie frame.
As a preferable scheme of the motor train bogie frame cleaning device of the present invention, the vision detection unit includes an image processing module and a plurality of shooting modules, the plurality of shooting modules are used for shooting and identifying the motor train bogie frame at a plurality of angles, and the image processing module is used for processing the dirt information identified by the plurality of shooting modules.
As a preferable scheme of the bullet train bogie frame cleaning equipment, the turntable comprises a sliding seat and an object stage, the sliding seat is arranged on the walking rail in a sliding mode, the object stage is arranged on the sliding seat in a rotating mode, and the object stage is used for bearing the bullet train bogie frame.
As a preferable aspect of the railcar bogie frame cleaning apparatus of the present invention, the running rail penetrates the preliminary spray unit, the brush unit, and the cleaning and drying unit in this order.
As a preferable scheme of the cleaning equipment for the bogie frame of the bullet train, the outer sides of the pre-spray unit, the brushing unit and the cleaning and drying unit are provided with protective covers.
The invention has the beneficial effects that:
The invention provides a cleaning device for a motor train bogie frame, which is characterized in that the motor train bogie frame is borne by a rotary table, the rotary table sequentially slides to a pre-spraying unit, a scrubbing unit and a cleaning and drying unit along a traveling rail, the rotary table can independently rotate, so that the cleaning dead angle can be avoided, the cleaning effect is improved, the pre-spraying unit comprises a first series-connection robot and a first high-pressure water gun, the first series-connection robot has multiple degrees of freedom, the first high-pressure water gun is connected to the tail end of the first series-connection robot and is used for spraying surface stains of the motor train bogie frame, the scrubbing unit is used for scrubbing the surface stains of the motor train bogie frame, the cleaning and drying unit is used for washing residual cleaning solution on the surface of the motor train bogie frame, the drying treatment is carried out on the motor train bogie frame, and the residual positions of the motor train bogie frame. The cleaning equipment for the motor car bogie frame provided by the invention has the advantages of high cleaning efficiency, good cleaning effect, safety and environmental protection, reduces the cost of cleaning manpower, can realize all-around covering and cleaning of the motor car bogie frame, can realize repeated cleaning and key cleaning on stubborn stains, and can effectively avoid damage and water inflow of key components such as cables and the like in the cleaning process.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a cleaning apparatus for a bogie frame of a motor car according to an embodiment of the present invention.
In the figure:
1-a conveying unit; 2-a pre-spray unit; 3-a brushing unit; 4-a cleaning and drying unit; 5-a protective cover;
11-a turntable; 12-running rails;
21-a first serial online robot;
31-a coarse brushing unit; 311-a second tandem robot; 32-a fine brushing unit; 321-a third tandem robot;
41-fourth tandem robot;
100-motor car bogie frame.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in FIG. 1, the embodiment provides a cleaning device for a bogie frame of a bullet train, which can be used for overhauling and maintaining a motor train unit. The cleaning equipment for the bogie frame of the bullet train comprises a conveying unit 1, a pre-spraying unit 2, a brushing unit 3, a cleaning and drying unit 4 and a visual detection unit. The bullet train bogie frame cleaning equipment further comprises a control unit, wherein the control unit can receive the information of the visual detection unit and respectively control the conveying unit 1, the pre-spraying unit 2, the brushing unit 3 and the cleaning and drying unit 4 to complete each cleaning process.
The conveying unit 1 comprises a rotary table 11 and a traveling rail 12, the rotary table 11 is arranged on the traveling rail 12 in a sliding mode, the rotary table 11 can rotate independently, and the rotary table 11 is used for bearing a bogie frame 100 of the motor car. The multi-directional cleaning of the motor car bogie frame 100 is realized through the independently rotating rotary table 11. The rotary table 11 can be provided with a plurality of rotary tables, a bullet train bogie framework 100 to be cleaned is placed on each rotary table 11, assembly line cleaning work can be conveniently carried out on the bullet train bogie frameworks 100 simultaneously, and cleaning efficiency is improved.
The pre-spray unit 2 includes a first serial robot 21 having a plurality of degrees of freedom, and a first high pressure water gun connected to a distal end of the first serial robot 21 for spraying surface stains on the bogie frame 100 of the bullet train. The control unit can control the first tandem robot 21 to fully cover the surface of the railcar bogie frame 100 by performing the preliminary spray washing of the railcar bogie frame 100 in all directions by the first tandem robot 21 having a plurality of degrees of freedom. The brushing unit 3 is used for brushing surface stains on the bogie frame 100 of the motor car. The cleaning and drying unit 4 is used to wash the surface of the railcar truck frame 100 with the residual washing liquid and dry the railcar truck frame 100. The visual detection unit is used to identify the location of residual soil and cable components of the railcar truck frame 100.
To facilitate the carrying of the bogie frame 100 of the motor vehicle, the turntable 11 optionally comprises a slide which is slidably arranged on the running rails 12 and an object table which is rotatably arranged on the slide and is used for carrying the bogie frame 100 of the motor vehicle. The bottom of slide is provided with the motor, and the output of motor is connected with the objective table transmission to the relative slide of drive objective table rotates. To achieve an automated line cleaning operation, the running rails 12 optionally run through the pre-spray unit 2, the brushing unit 3 and the cleaning and drying unit 4 in this order. In order to reduce the interference of the cleaning operation to the external environment, optionally, the outsides of the pre-spray unit 2, the brushing unit 3 and the cleaning and drying unit 4 are all provided with a protective cover 5, and the protective cover 5 can isolate noise and prevent liquid from splashing.
For carrying out preliminary comprehensive washing to the surperficial spot of motor car bogie frame 100, optionally, scrub unit 3 and include that the unit 31 is washed in the thick brush, and unit 31 is washed in the thick brush includes second series connection robot 311, second high-pressure squirt and the first subassembly of brushing, and second high-pressure squirt and first subassembly of brushing are the acute angle and set up in the end of second series connection robot 311. The mixed liquid of washing liquid and water is sprayed to the bullet train bogie frame 100 through the second high-pressure water gun, and the second serial robot 311 drives the second high-pressure water gun to perform preliminary and comprehensive cleaning on the bullet train bogie frame 100.
For further cleaning stubborn stains of the motor car bogie frame 100, optionally, the brushing unit 3 further comprises a fine brushing unit 32, the fine brushing unit 32 comprises a third series robot 321, a third high-pressure water gun and a second cleaning assembly, the third high-pressure water gun and the second cleaning assembly are arranged at the tail end of the third series robot 321 in an acute angle, and the third series robot 321 can position the residual stains according to the recognition result of the visual detection unit and avoid cable components.
To selectively replace the respective brush heads as desired, optionally, the first and second brushing assemblies each include a plurality of brush heads circumferentially distributed on a turntable that is rotatable to align one of the plurality of brush heads with the railcar truck frame 100. Optionally, the plurality of brush heads may be sized differently to accommodate cleaning of different portions of the railcar truck frame 100. Preferably, a plurality of brush heads with different sizes can be sequentially arranged according to the size sequence, so that the control method and the program of the control system are simplified.
For carrying out omnidirectional clean drying to motor car bogie frame 100, optionally, clean drying unit 4 includes fourth series connection robot 41, fourth high-pressure squirt and high-pressure air gun, and fourth high-pressure squirt and high-pressure air gun all set up in the end of fourth series connection robot 41, and fourth high-pressure squirt is used for washing the remaining washing liquid in motor car bogie frame 100's surface, and high-pressure air gun carries out drying process to motor car bogie frame 100.
In order to facilitate the identification of the stains on the surface of the motor train bogie frame 100, optionally, the visual detection unit includes an image processing module and a plurality of shooting modules, the plurality of shooting modules are used for shooting and identifying the motor train bogie frame 100 at a plurality of angles, and the image processing module is used for processing the stain information identified by the plurality of shooting modules.
The cleaning equipment for the motor train bogie frame provided by the embodiment has the advantages that the motor train bogie frame 100 is borne by the rotary table 11, the rotary table 11 sequentially slides to the pre-spraying unit 2, the brushing unit 3 and the cleaning and drying unit 4 along the traveling rail 12, the rotary table 11 can independently rotate, dead angles of cleaning can be avoided, the cleaning effect is improved, the pre-spraying unit 2 comprises a first series connection robot 21 and a first high-pressure water gun, the first series connection robot 21 has multiple degrees of freedom, the first high-pressure water gun is connected to the tail end of the first series connection robot 21, used for spraying surface stains of the motor car bogie frame 100, brushing the surface stains of the motor car bogie frame 100 through the brushing unit 3, washing the surface of the railcar bogie frame 100 with the residual washing liquid by the cleaning and drying unit 4, and drying the railcar bogie frame 100, the location of residual soiling and cable components of the motor car bogie frame 100 are identified by a visual detection unit.
The motor car bogie framework cleaning equipment that this embodiment provided, the cleaning efficiency is high, and the cleaning performance is good, and safety ring protects, has reduced and has washd the human cost, can realize that motor car bogie framework 100 omnidirectional covers washs, can realize repeated washing, key washing to stubborn spot, can effectively avoid key parts such as cables to damage, intake at abluent in-process.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A motor car truck frame cleaning apparatus, comprising:
The conveying unit (1) comprises a rotary table (11) and a walking rail (12), wherein the rotary table (11) is arranged on the walking rail (12) in a sliding mode, the rotary table (11) can rotate independently, and the rotary table (11) is used for bearing the motor car bogie frame (100);
The pre-spraying and washing unit (2) comprises a first serial robot (21) and a first high-pressure water gun, wherein the first serial robot (21) has multiple degrees of freedom, and the first high-pressure water gun is connected to the tail end of the first serial robot (21) and is used for spraying surface stains of the bullet train bogie frame (100);
A brushing unit (3) for brushing surface stains of the motor car bogie frame (100);
A cleaning and drying unit (4) for washing the washing liquid remained on the surface of the motor train bogie frame (100) and drying the motor train bogie frame (100);
A visual detection unit for identifying a residual stain location and a cable component of the railcar truck frame (100).
2. A motor car bogie frame cleaning apparatus according to claim 1, characterized in that the scrubbing unit (3) comprises a coarse scrubbing unit (31), the coarse scrubbing unit (31) comprising a second in-line robot (311), a second high pressure water gun and a first cleaning assembly, the second high pressure water gun and the first cleaning assembly being arranged at the end of the second in-line robot (311) at an acute angle.
3. The motor car bogie frame cleaning device according to claim 2, wherein the brushing unit (3) further comprises a fine brushing unit (32), and the fine brushing unit (32) comprises a third serial robot (321), a third high-pressure water gun and a second cleaning component, the third high-pressure water gun and the second cleaning component are arranged at the tail end of the third serial robot (321) at an acute angle, and the third serial robot (321) can position residual stains and avoid the cable component according to the recognition result of the visual detection unit.
4. A motor car truck frame washing apparatus according to claim 3, wherein the first and second brushing assemblies each comprise a plurality of brush heads and a rotatable disc, the plurality of brush heads being circumferentially distributed on the rotatable disc, the rotatable disc being rotatable to align one of the plurality of brush heads with the motor car truck frame (100).
5. The motor car truck frame washing apparatus of claim 4, wherein a plurality of said brush heads are of different sizes.
6. The motor train bogie frame washing device according to claim 1, wherein the cleaning and drying unit (4) comprises a fourth serial robot (41), a fourth high-pressure water gun and a high-pressure air gun, wherein the fourth high-pressure water gun and the high-pressure air gun are both arranged at the tail end of the fourth serial robot (41), the fourth high-pressure water gun is used for washing the residual washing liquid on the surface of the motor train bogie frame (100), and the high-pressure air gun is used for drying the motor train bogie frame (100).
7. The motor car truck frame cleaning device according to claim 1, wherein the vision detection unit comprises an image processing module and a plurality of shooting modules, the plurality of shooting modules are used for shooting and identifying the motor car truck frame (100) at a plurality of angles, and the image processing module is used for processing the dirt information identified by the plurality of shooting modules.
8. The motor car truck chassis cleaning apparatus according to claim 1, wherein the turntable (11) includes a carriage slidably disposed on the running rails (12) and a stage rotatably disposed on the carriage for carrying the motor car truck chassis (100).
9. Motor-car truck frame washing installation according to claim 1, characterized in that said running rails (12) pass through said pre-spray unit (2), said brushing unit (3) and said cleaning and drying unit (4) in sequence.
10. Motor car truck frame washing installation according to any one of claims 1-9, characterized in that the outside of the pre-spray unit (2), the brush unit (3) and the cleaning and drying unit (4) is provided with a protective cover (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010420442.7A CN111451206A (en) | 2020-05-18 | 2020-05-18 | Cleaning equipment for bogie framework of bullet train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010420442.7A CN111451206A (en) | 2020-05-18 | 2020-05-18 | Cleaning equipment for bogie framework of bullet train |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111451206A true CN111451206A (en) | 2020-07-28 |
Family
ID=71672271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010420442.7A Pending CN111451206A (en) | 2020-05-18 | 2020-05-18 | Cleaning equipment for bogie framework of bullet train |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111451206A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113012149A (en) * | 2021-04-14 | 2021-06-22 | 北京铁道工程机电技术研究所股份有限公司 | Intelligent cleaning robot path planning method and system |
-
2020
- 2020-05-18 CN CN202010420442.7A patent/CN111451206A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113012149A (en) * | 2021-04-14 | 2021-06-22 | 北京铁道工程机电技术研究所股份有限公司 | Intelligent cleaning robot path planning method and system |
| CN113012149B (en) * | 2021-04-14 | 2024-03-15 | 北京铁道工程机电技术研究所股份有限公司 | Intelligent cleaning robot path planning method and system |
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